Hardware Installation

Assembly

Two M3 screws are recommended to assemble mechanically the MC01 to a frame. Its fixation holes do not have thread, then it is necessary to use more than 2mm as thread depth.

Pinout/Connections

20 Pin Connector

Allocation pin numbers

Number	Colour	Inputs	Use
1	Brown	EQEP1L	EQEP Encoder
2	Red	EQEP1S	EQEP Encoder
3	Orange	EQEP1B	EQEP Encoder
4	Yellow	PWM1/ECAP	PWM/ECAP
5	Green	EQEP1A	EQEP Encoder
6	Blue	3.3V	Output Power
7	Purple	PWM2/ECAP	PWM/ECAP
8	Gray	CAN (N)	CAN negative
9	White	CAN (P)	CAN positive
10	Black	GND	Ground
11	Brown	SDA	I2C
12	Red	SCL	I2C
13	Orange	INPUT POWER	Voltage supply
14	Yellow	5V	Output Power
15	Green	MISO+	SPI Encoder
16	Blue	MISO-	SPI Encoder
17	Purple	CLK-	SPI Encoder
18	Gray	CLK+	SPI Encoder

The encoder information is received as a differential signal between MISO+ and MISO-, with a differential clock signal between CLK+ and CLK-.

3 Pin Output Connector

The 3 pin connector has the power outputs for motor power supply, each pin corresponds to a phase (A, B and C).

Allocation pin phases

CAN Assembly

A 120 Ohm resistor is required to connect via CAN a MC01 With a Veronte Autopilot. The following figure describes how to assembe the CAN connection with more devices.

CAN circuit